kopia lustrzana https://github.com/fsphil/hadie
Add GPS parser and other bits
Philip Heron
rodzic
7918bd3790
commit
763fda3cdb
2
Makefile
2
Makefile
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@ -1,6 +1,6 @@
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PROJECT=hadie
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OBJECTS=hadie.o rtty.o rs8encode.o c328.o
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OBJECTS=hadie.o rtty.o gps.o rs8encode.o c328.o
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# Serial device used for programming AVR
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TTYPORT=/dev/ttyACM0
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1
config.h
1
config.h
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@ -1,4 +1,3 @@
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/* hadie - High Altitude Balloon flight software */
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/*============================================================*/
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/* Copyright (C)2010 Philip Heron <phil@sanslogic.co.uk> */
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@ -0,0 +1,226 @@
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/* hadie - High Altitude Balloon flight software */
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/*============================================================*/
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/* Copyright (C)2010 Philip Heron <phil@sanslogic.co.uk> */
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/* */
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/* This program is distributed under the terms of the GNU */
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/* General Public License, version 2. You may use, modify, */
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/* and redistribute it under the terms of this license. A */
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/* copy should be included with this source. */
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#include "config.h"
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#include <stdint.h>
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#include <string.h>
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#include <stdio.h>
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#include <avr/interrupt.h>
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#include "gps.h"
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/************* UART RX interrupt handler and buffer *************************/
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/* The maximum length of the NMEA string is 82 characters */
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#define RXBUFSIZE (82 + 1)
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/* Helper to convert uppercase hex ascii character to integer */
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#define HTOI(c) (((c) - '0' > '9' ? (c) - 'A' + 10 : (c) - '0') & 0x0F)
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/* Received GPGGA lines are copied into this buffer by the interrupt */
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static volatile char rxline[RXBUFSIZE];
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static volatile char rx_lock = 0;
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ISR(USART1_RX_vect)
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{
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static char rx[RXBUFSIZE];
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static uint8_t rx_len = 0; /* Number of characters in the buffer */
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static uint8_t rx_checksum = 0; /* Calculated checksum */
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static uint8_t rx_have_checksum = 0; /* If the string has a checksum */
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static uint8_t checksum; /* The checksum at the end of the string */
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uint8_t b;
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/* Read the received character */
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b = UDR1;
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switch(b)
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{
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case '$': break;
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case '*': rx_have_checksum = 1; return;
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case '\n':
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case '\r':
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/* A complete line has been received - is the checksum valid? */
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if(!rx_have_checksum) break;
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if(checksum != rx_checksum) break;
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/* Is it a GPGGA message? */
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rx[rx_len] = '\0';
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if(strncmp(rx, "GPGGA", 5) != 0) break;
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/* Got a valid GPGGA line, copy it if not locked */
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if(!rx_lock) strncpy((char *) rxline, rx, RXBUFSIZE);
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break;
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default:
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if(!rx_have_checksum)
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{
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/* Clear the buffer if full */
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if(rx_len >= RXBUFSIZE) break;
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/* Store the new character and update checksum */
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rx[rx_len++] = b;
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rx_checksum ^= b;
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}
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else
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{
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checksum <<= 4;
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checksum |= HTOI(b);
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}
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return;
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}
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/* Clear the buffer */
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rx_len = 0;
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rx_checksum = 0;
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rx_have_checksum = 0;
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}
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/* Like atoi but for fixed point numbers. Processes at most n bytes and
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* returns a pointer the next position in the string. Reads dp decimal
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* places */
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int32_t strntofp(const char *s, char **endptr, size_t n, char dp)
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{
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int32_t i = 0;
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char neg = 0, fp = 0;
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if(n <= 0) goto out;
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/* Test for a + or - sign */
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switch(*s)
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{
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case '-': neg = !neg;
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case '+': s++; n--;
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}
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/* Read in the number */
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while(*s && n && (!fp || dp))
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{
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char d = *s;
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if(d >= '0' && d <= '9')
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{
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/* Add the digit */
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i *= 10;
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i += d - '0';
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if(fp) dp--;
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}
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else if(dp > 0 && d == '.') fp = 1;
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else break;
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/* Next... */
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s++;
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n--;
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}
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while(dp > 0)
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{
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i *= 10;
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dp--;
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}
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/* Fix result if it's negative */
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if(neg) i = -i;
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out:
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/* Set the end pointer if needed */
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if(endptr) *endptr = (char *) s;
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return(i);
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}
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int32_t strntoi(const char *s, char **endptr, size_t n)
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{
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return(strntofp(s, endptr, n, 0));
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}
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char *gps_field(char *s, int f)
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{
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while(*s && f > 0) if(*(s++) == ',') f--;
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if(f == 0) return(s);
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return(NULL);
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}
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char gps_parse(gpsfix_t *gps)
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{
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char i;
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memset(gps, 0, sizeof(gpsfix_t));
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rx_lock = 1;
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for(i = 0; i < 10; i++)
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{
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char *r = gps_field((char *) rxline, i);
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if(!r)
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{
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rx_lock = 0;
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return(-1);
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}
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switch(i)
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{
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case 1: /* Fix Time */
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gps->hour = strntoi(r, &r, 2);
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gps->minute = strntoi(r, &r, 2);
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gps->second = strntoi(r, &r, 2);
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break;
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case 2: /* Latitude */
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gps->latitude_i = strntoi(r, &r, 2);
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gps->latitude_f = strntofp(r, &r, 7, 4) * 100 / 60;
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break;
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case 3: /* Latitude hemisphere */
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if(*r == 'S') gps->latitude_i = -gps->latitude_i;
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break;
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case 4: /* Longitude */
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gps->longitude_i = strntoi(r, &r, 3);
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gps->longitude_f = strntofp(r, &r, 7, 4) * 100 / 60;
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break;
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case 5: /* Longitude hemisphere */
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if(*r == 'W') gps->longitude_i = -gps->longitude_i;
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break;
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case 6: /* Fix quality */
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gps->fix = strntoi(r, NULL, 3);
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break;
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case 7: /* Satellites */
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gps->sats = strntoi(r, NULL, 3);
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break;
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case 9: /* Altitude */
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gps->altitude = strntoi(r, NULL, 10);
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break;
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}
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}
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rx_lock = 0;
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return(0);
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}
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void gps_init()
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{
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rxline[0] = '\0';
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/* Do UART1 initialisation, 38400 baud @ 7.3728 MHz */
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UBRR1H = 0;
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UBRR1L = 11;
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/* Enable RX, TX and RX interrupt */
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UCSR1B = (1 << RXEN1) | (1 << TXEN1) | (1 << RXCIE1);
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/* 8-bit, no parity and 1 stop bit */
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UCSR1C = (1 << UCSZ11) | (1 << UCSZ10);
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}
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@ -0,0 +1,31 @@
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/* hadie - High Altitude Balloon flight software */
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/*============================================================*/
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/* Copyright (C)2010 Philip Heron <phil@sanslogic.co.uk> */
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/* */
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/* This program is distributed under the terms of the GNU */
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/* General Public License, version 2. You may use, modify, */
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/* and redistribute it under the terms of this license. A */
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/* copy should be included with this source. */
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typedef struct {
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uint8_t hour; /* 0-23 */
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uint8_t minute; /* 0-60 */
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uint8_t second; /* 0-60 */
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int16_t latitude_i; /* -180-180 */
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uint32_t latitude_f; /* 0-999999 */
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int16_t longitude_i; /* -180-180 */
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uint32_t longitude_f; /* 0-999999 */
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int32_t altitude; /* 0-99999 */
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uint8_t fix; /* 0-2 */
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uint8_t sats; /* 0-99 */
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} gpsfix_t;
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extern void gps_init();
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extern char gps_parse(gpsfix_t *gps);
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104
hadie.c
104
hadie.c
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@ -14,6 +14,7 @@
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#include <util/crc16.h>
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#include <avr/interrupt.h>
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#include "rtty.h"
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#include "gps.h"
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#include "c328.h"
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#include "rs8.h"
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@ -21,23 +22,29 @@
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#define MSG_SIZE (100)
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char msg[MSG_SIZE];
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#define PREFIX "$$$$"
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/* Image TX data */
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#define PKT_SIZE (0x100)
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#define PKT_SIZE_HEADER (0x06)
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#define PKT_SIZE_HEADER (0x0A)
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#define PKT_SIZE_RSCODES (0x20)
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#define PKT_SIZE_PAYLOAD (PKT_SIZE - PKT_SIZE_HEADER - PKT_SIZE_RSCODES)
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uint8_t pkt[PKT_SIZE];
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uint16_t pkt_len;
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uint16_t image_len;
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void init_packet(uint8_t *packet, uint8_t imageid, uint8_t pktid, uint16_t filesize)
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void init_packet(uint8_t *packet, uint8_t imageid, uint8_t pktid, uint8_t pkts, uint16_t width, uint16_t height)
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{
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packet[0] = 0x55; /* Preamble */
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packet[1] = 0x66; /* Marker */
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packet[2] = imageid; /* Image ID */
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packet[3] = pktid; /* Packet ID */
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packet[4] = filesize & 0XFF; /* Filesize LSB */
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packet[5] = filesize >> 8; /* Filesize MSB */
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packet[0] = 0x55; /* Sync */
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packet[1] = 0x66; /* Type */
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packet[2] = imageid; /* Image ID */
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packet[3] = pktid; /* Packet ID */
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packet[4] = pkts; /* Packets */
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packet[5] = width >> 3; /* Width MCU */
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packet[6] = height >> 3; /* Height MCU */
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packet[7] = 0xFF; /* Next MCU offset */
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packet[8] = 0x00; /* MCU ID MSB */
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packet[9] = 0x00; /* MCU ID LSB */
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memset(&packet[PKT_SIZE_HEADER], 0, PKT_SIZE_PAYLOAD);
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}
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@ -45,35 +52,35 @@ char setup_camera(void)
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{
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if(c3_sync() != 0)
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{
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rtx_string_P(PSTR("$$" CALLSIGN ":Camera sync failed...\n"));
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rtx_string_P(PSTR(PREFIX CALLSIGN ":Camera sync failed...\n"));
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return(-1);
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}
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/* Setup the camera */
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if(c3_setup(CT_JPEG, 0, SR_320x240) != 0)
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{
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rtx_string_P(PSTR("$$" CALLSIGN ":Camera setup failed...\n"));
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rtx_string_P(PSTR(PREFIX CALLSIGN ":Camera setup failed...\n"));
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return(-1);
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}
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/* Set the package size */
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if(c3_set_package_size(PKT_SIZE_PAYLOAD + 6) != 0)
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{
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rtx_string_P(PSTR("$$" CALLSIGN ":Package size set failed!\n"));
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rtx_string_P(PSTR(PREFIX CALLSIGN ":Package size set failed!\n"));
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return(-1);
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}
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/* Take the image */
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if(c3_snapshot(ST_JPEG, 0) != 0)
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{
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rtx_string_P(PSTR("$$" CALLSIGN ":Snapshot failed!\n"));
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rtx_string_P(PSTR(PREFIX CALLSIGN ":Snapshot failed!\n"));
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return(-1);
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}
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/* Get the image size and begin the transfer */
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if(c3_get_picture(PT_SNAPSHOT, &image_len) != 0)
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{
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rtx_string_P(PSTR("$$" CALLSIGN ":Get picture failed\n"));
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rtx_string_P(PSTR(PREFIX CALLSIGN ":Get picture failed\n"));
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return(-1);
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}
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@ -91,7 +98,7 @@ char tx_image(void)
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static uint16_t pkg_len;
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static uint8_t img_id = 0;
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static uint8_t img_tx;
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static uint16_t img_tx;
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static uint8_t pkt_id;
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if(!setup)
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@ -107,7 +114,7 @@ char tx_image(void)
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}
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/* Initialise the packet -- make sure previous packet has finished TX'ing! */
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init_packet(pkt, img_id, pkt_id++, image_len);
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init_packet(pkt, img_id, pkt_id++, 0xFF, 640, 480);
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pkt_len = 0;
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while(pkt_len < PKT_SIZE_PAYLOAD)
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@ -115,14 +122,15 @@ char tx_image(void)
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if(pkg_len == 0)
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{
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char msg[100];
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if(c3_get_package(pkg_id++, &pkg, &pkg_len) != 0)
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char i;
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if((i = c3_get_package(pkg_id++, &pkg, &pkg_len)) != 0)
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{
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snprintf(msg, 100, "$$" CALLSIGN ",Get package %i failed\n", pkg_id - 1);
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snprintf(msg, 100, PREFIX CALLSIGN ",Get package %i failed (%i)\n", pkg_id - 1, i);
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rtx_string(msg);
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rtx_wait();
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setup = 0;
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return(-1);
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return(setup);
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}
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/* Skip the package header */
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@ -135,6 +143,7 @@ char tx_image(void)
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uint16_t l = PKT_SIZE_PAYLOAD - pkt_len;
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if(pkg_len < l) l = pkg_len;
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/* TODO: Copy with the JPEG filter */
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memcpy(pkt + PKT_SIZE_HEADER + pkt_len, pkg, l);
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pkg += l;
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@ -144,7 +153,7 @@ char tx_image(void)
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}
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/* Have we reached the end of the image? */
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if(img_tx == image_len)
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if(img_tx >= image_len)
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{
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c3_finish_picture();
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setup = 0;
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@ -153,15 +162,57 @@ char tx_image(void)
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}
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encode_rs_8(&pkt[1], &pkt[PKT_SIZE_HEADER + PKT_SIZE_PAYLOAD], 0);
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rtx_string_P(PSTR("UUU")); /* U = 0x55 */
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rtx_data(pkt, PKT_SIZE);
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//rtx_wait();
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//c3_ping();
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return(setup);
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}
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uint16_t crccat(char *msg)
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{
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uint16_t x;
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for(x = 0xFFFF; *msg; msg++)
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x = _crc_xmodem_update(x, *msg);
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snprintf(msg, 8, "*%04X\n", x);
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return(x);
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}
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char tx_telemetry(void)
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{
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static unsigned int counter = 0;
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gpsfix_t gps;
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/* Read the GPS data */
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gps_parse(&gps);
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rtx_wait();
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snprintf(msg, MSG_SIZE,
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PREFIX CALLSIGN ",%u,%02i:%02i:%02i,%i.%06lu,%i.%06lu,%li,%i:%i",
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counter++,
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gps.hour, gps.minute, gps.second,
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gps.latitude_i, gps.latitude_f,
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gps.longitude_i, gps.longitude_f,
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gps.altitude, gps.fix, gps.sats);
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/* Append the checksum, skipping the first four $'s */
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crccat(msg + 4);
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/* Begin transmitting */
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rtx_string(msg);
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return(0);
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}
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int main(void)
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{
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char r;
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/* Initalise the various bits */
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rtx_init();
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gps_init();
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c3_init();
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|
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/* Let the radio settle before beginning */
|
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|
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@ -172,9 +223,18 @@ int main(void)
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|
||||
while(1)
|
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{
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tx_image();
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rtx_wait();
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//rtx_string_P(PSTR("$$" CALLSIGN ",TEST\n"));
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r = 5;
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if(tx_image() == -1)
|
||||
{
|
||||
/* The camera goes to sleep while transmitting telemetry,
|
||||
* sync'ing here seems to prevent it. */
|
||||
c3_sync();
|
||||
r = 1;
|
||||
}
|
||||
|
||||
rtx_string_P(PSTR("\n"));
|
||||
for(; r > 0; r--) tx_telemetry();
|
||||
}
|
||||
|
||||
return(0);
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue